CN114803420B - Unmanned aerial vehicle freight system capable of realizing automatic loading and unloading - Google Patents

Unmanned aerial vehicle freight system capable of realizing automatic loading and unloading Download PDF

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Publication number
CN114803420B
CN114803420B CN202210609618.2A CN202210609618A CN114803420B CN 114803420 B CN114803420 B CN 114803420B CN 202210609618 A CN202210609618 A CN 202210609618A CN 114803420 B CN114803420 B CN 114803420B
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CN
China
Prior art keywords
conveying section
unmanned aerial
aerial vehicle
container
middle conveying
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CN202210609618.2A
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Chinese (zh)
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CN114803420A (en
Inventor
王款
王云
燕国良
王翔
何流
黄依凡
巩磊
舒志强
虞昊翔
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Hangzhou Dianzi University
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Hangzhou Dianzi University
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Priority to CN202210609618.2A priority Critical patent/CN114803420B/en
Publication of CN114803420A publication Critical patent/CN114803420A/en
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Publication of CN114803420B publication Critical patent/CN114803420B/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
    • B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F1/00—Ground or aircraft-carrier-deck installations
    • B64F1/32—Ground or aircraft-carrier-deck installations for handling freight
    • B64F1/322—Cargo loaders specially adapted for loading air freight containers or palletized cargo into or out of the aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
    • B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
    • B65G47/248—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles by turning over or inverting them
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/34—Devices for discharging articles or materials from conveyor 
    • B65G47/38—Devices for discharging articles or materials from conveyor  by dumping, tripping, or releasing load carriers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/52—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B65G2201/0235—Containers
    • B65G2201/025—Boxes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04—Detection means
    • B65G2203/042—Sensors

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Loading Or Unloading Of Vehicles (AREA)

Abstract

The invention discloses an unmanned aerial vehicle freight system capable of realizing automatic loading and unloading. The unmanned aerial vehicle freight system comprises an apron main body, a cargo input-output part and a loading-unloading part. The loading and unloading part comprises two locking components arranged on two sides of the container and a clamping component arranged on the unmanned aerial vehicle. The locking assembly comprises a first sliding block, a first gear, a second gear, a third gear and a second sliding block. The clamping assembly comprises a frame and two single-side clamping modules. The two unilateral clamping modules are respectively arranged at two sides of the frame. The unilateral clamping module comprises a first bracket, a claw hook, a connecting shaft and a second bracket. The invention utilizes the cooperation of the gear rack, so that the claw hook is clamped by two sliding blocks on the box body when being lifted, and the outer side is limited, thereby ensuring the reliability of clamping the container and adapting to the complex gesture in aviation movement. When unloading, only the claw hook is controlled to move downwards, so that the limit and the clamping suffered by the claw hook are eliminated, and the convenient cargo unloading is realized.

Description

Unmanned aerial vehicle freight system capable of realizing automatic loading and unloading
Technical Field
The invention belongs to the technical field of freight rotor unmanned aerial vehicles, and particularly relates to an unmanned aerial vehicle freight system capable of realizing automatic loading and unloading and a working method thereof.
Background
The rotor unmanned aerial vehicle has the advantages of wide mature technology and wide application, is flexible in aviation movement, is a multifunctional carrier capable of carrying various functional modules, is particularly suitable for developing air traffic, and is widely applied to the fields of agriculture, industry, logistics, traffic, military and the like. However, the current large rotor unmanned aerial vehicle is not widely applied in the field of short-range air delivery, and the main reasons are the problem of airspace opening and the problem of whole-course safety and reliability of unmanned aerial vehicle delivery. The whole process of unmanned aerial vehicle delivery is overview, divide into the loading of initial section in proper order and take off, middle section delivery and the landing unloading of last section, need the reliability that has the automated loading and unloading process of solving the problem, unmanned aerial vehicle take off and land reliability of process, unmanned aerial vehicle flight technique. Therefore, under the technical guarantee of the reliability of the unmanned aerial vehicle technology, the safety taking-off and landing and automatic loading and unloading processes of the large outer support rotor unmanned aerial vehicle are guaranteed, the working efficiency is improved, and an automatic platform integrating the taking-off and landing functions of the primary section and the tail section and a reliable structure for docking goods with the unmanned aerial vehicle are required to be designed.
Disclosure of Invention
The invention aims to provide a freight transport rotor unmanned aerial vehicle parking apron platform for taking off and landing of a rotor unmanned aerial vehicle and carrying a novel elevator mechanism. A millimeter wave radar guiding method is matched, and a container locking mechanism and an airborne grabbing mechanism are matched for use.
An unmanned aerial vehicle freight system capable of realizing automatic loading and unloading comprises an apron main body, a cargo input and output part and a loading and unloading part. The goods input/output part is arranged below the parking apron main body and is used for delivering goods to the parking apron and outputting the goods discharged by the unmanned aerial vehicle on the parking apron. The loading and unloading part is used for automatically grabbing and releasing the cargoes.
The loading and unloading part comprises two locking components arranged on two sides of the container and a clamping component arranged on the unmanned aerial vehicle. The locking assembly comprises a first sliding block, a third gear, a first gear, a second gear and a second sliding block. The first sliding block and the second sliding block form sliding pairs with the side face of the container. The second slider is located above the first slider. The first sliding block is provided with a first rack; the second sliding block is provided with a second rack. The first gear is rotatably coupled to the cargo box. The third gear and the second gear are coaxially fixed and rotatably connected to the cargo box. The third gear is meshed with the first rack; the second gear is meshed with the first gear. The first gear is meshed with the second rack; the number of teeth of the third gear is greater than the number of teeth of the second gear.
The clamping assembly comprises a frame and two single-side clamping modules. The two unilateral clamping modules are respectively arranged at two sides of the frame. The unilateral clamping module comprises a first bracket, a claw hook, a connecting shaft and a second bracket. The first bracket is connected to the end part of the frame in a sliding way and is driven by the power element; the second bracket and the first bracket form a revolute pair and are driven by a power element. The claw hook is connected with the second bracket in a sliding way and is driven by the power element. The two claw hooks can transversely move, turn over and stretch under the drive of the power element.
In the process of clamping the cargo box by the loading and unloading part, claw hooks of the two single-side clamping modules respectively extend into the space between the first sliding blocks and the second sliding blocks of the two locking assemblies on the cargo box; and driving the second slider to move upwards relative to the container; under the gear drive, the first slider moves upwards at a faster speed, so that the distance between the first slider and the second slider is reduced until the first slider and the second slider clamp the claw hook.
Preferably, the claw hook is provided with a locking hole; a fourth hydraulic cylinder is fixed on the frame; when the claw hook is turned to a vertical state, the locking hole is aligned with a locking block on the push-out rod of the fourth hydraulic cylinder; when the fourth hydraulic cylinder is pushed out, the locking block stretches into the locking hole to lock the position of the claw hook.
Preferably, the single-side clamping module further comprises a first hydraulic cylinder, a second hydraulic cylinder and a third hydraulic cylinder. The cylinder body of the second hydraulic cylinder is fixed with the frame; the push-out rod of the first hydraulic cylinder is fixed with the first bracket; the cylinder body of the first hydraulic cylinder is rotationally connected with the first bracket, and the push-out rod of the second hydraulic cylinder is rotationally connected with the second bracket; the cylinder body of the third hydraulic cylinder is fixed with the second bracket; the push-out rod of the third hydraulic cylinder is fixed with the claw hook.
Preferably, the unmanned aerial vehicle freight system capable of realizing automatic loading and unloading further comprises an unmanned aerial vehicle positioning module. The unmanned aerial vehicle positioning module comprises three millimeter wave radars arranged on the parking apron main body and a plurality of millimeter wave radar signal receivers arranged on the unmanned aerial vehicle; the three millimeter wave radars are all arranged at the edge of the top surface of the parking apron main body and are distributed in a regular triangle; the distance between the unmanned aerial vehicle and the three millimeter wave radars is acquired by using the millimeter wave radar signal receiver to receive millimeter wave signals sent by the three millimeter wave radars, and the relative positions of the unmanned aerial vehicle and the parking apron main body are judged in the landing process.
Preferably, a loading and unloading through groove is formed in the center of the top surface of the parking apron main body. The goods input and output part comprises an upper conveying section, a middle conveying section, a lower conveying section and a position switching mechanism. The conveying surfaces of the upper conveying section and the lower conveying section are obliquely arranged, and the conveying surface of the upper conveying section is higher than that of the lower conveying section. The upper conveying section, the middle conveying section and the lower conveying section all adopt unpowered conveyer belts. The position switching mechanism drives the middle conveying section to switch among three working positions. The three working positions are respectively a docking working position, an input working position and an output working position of the unmanned aerial vehicle. When the middle conveying section is positioned at the unmanned aerial vehicle docking working position, the middle conveying section is positioned in the loading and unloading through groove of the parking apron main body. When the middle conveying section is positioned at the container input working position, the input end of the middle conveying section is in butt joint with the output end of the upper conveying section. When the middle conveying section is positioned at the cargo box output working position, the output end of the middle conveying section is in butt joint with the input end of the lower conveying section. The middle conveying section is provided with a conveying belt braking assembly; when the middle conveying section is positioned between the unmanned aerial vehicle butting working position and the input working position, the conveying belt braking assembly locks the conveying belt on the middle conveying section.
Preferably, the position switching mechanism comprises a third push rod, a first push rod, a second push rod, a container stop lever, a stop lever spring, a roller and a stop lever spring clip. One end of the second push rod and the base form a revolute pair; the other end of the second push rod and the end part of the middle conveying section, which is far away from the upper conveying section, form a revolute pair. The third push rod is connected to the base in a sliding manner and is driven by the power element. One end of the first push rod is rotationally connected with the third push rod. The other end of the first push rod and the end part of the middle conveying section, which is close to the upper conveying section, form a revolute pair. The second push rod is provided with a chute. The middle part of the first push rod is provided with a pin shaft; the pin shaft extends into the chute. By adjusting the position of the third push rod, the in-control conveying section is switched between three working positions.
Preferably, the conveyor belt brake assembly includes a brake plate, a brake spring, and an unlocking boss. The two ends of the braking plate are connected with the middle conveying section in a sliding way. The unlocking boss is fixed on the first push rod and aligned with the brake plate. When the middle conveying section is positioned between the input working position and the unmanned aerial vehicle butting working position, the braking plate butts against the conveying belt on the middle conveying section under the action of the elastic force of the braking spring. When the middle conveying section is in the input working position and the output working position, the brake plate is separated from the conveying belt on the middle conveying section under the pushing of the unlocking boss.
Preferably, the position switching mechanism further comprises a stop lever limiting seat. The stop lever limiting seat is fixed on the base. And the middle conveying section is provided with a cargo blocking assembly. The cargo blocking assembly includes a cargo box rail and a rail spring. The cargo box stop lever includes a blocking lever and a rotating lever. The inner end of the rotating rod is rotationally connected with the end parts of the two sides of the middle conveying section, which are close to the upper conveying section. The outer ends of the two rotating rods are respectively fixed with the two ends of the blocking rod. The distance from the blocking rod to the rotation center of the container stop rod is larger than the distance from the end of the middle conveying section close to the lower conveying section to the rotation center of the container stop rod. A baffle spring is arranged between the container baffle and the middle conveying section. The position of the container stop lever corresponds to the position of the stop lever limiting seat.
When the middle conveying section is positioned between the unmanned aerial vehicle butting working position and the container inputting working position, the blocking rod of the container blocking rod rotates to a position higher than the top surface of the middle conveying section and lower than the top surface of the container in the blocking rod spring, and the container on the middle conveying section is blocked from sliding downwards.
When the middle conveying section is positioned at the butting working position of the unmanned aerial vehicle, the container stop lever overcomes the elasticity of the stop lever spring under the stop of the apron main body and rotates to a position lower than the top surface of the middle conveying section.
When the middle conveying section is positioned between the cargo box input working position and the cargo box output working position, the cargo box baffle rod is blocked by the baffle rod limiting seat; when the middle conveying section is positioned between the container output working positions, the distance between the container stop lever and the top surface of the middle conveying section is larger than the height of the container.
Preferably, a roller is rotatably connected to the outer side of the blocking lever. The upper side of the outer end of the rotating rod is provided with a roller.
Preferably, the goods input-output part further comprises a linkage abdication component. The linkage abdication component is used for closing a gap between the middle conveying section and the edge of the loading and unloading through groove; the linkage abdication assembly comprises a sealing plate, an elastic rope, a connecting rod and a guide rail. The guide rail is fixed on the base and is parallel to the sliding direction of the third push rod; the connecting rod is L-shaped and comprises a horizontal section and a vertical section. The horizontal section of the connecting rod is in sliding connection with the guide rail. The outer end of the connecting rod is provided with a drag hook part; the drag hook part hooks one side of the third push rod far away from the lower conveying section. The back of shrouding is provided with two arc tracks that align and the interval sets up each other. One end of the arc-shaped track is fixed with the middle part of the back surface of the sealing plate; the other end of the arc-shaped track is rotationally connected with the edge of the apron main body, which is close to the lower conveying section. The top end of the vertical section of the connecting rod is provided with a pin shaft; the pin shaft extends into the chute of the arc-shaped track.
When the connecting rod slides along the guide rail, the sealing plate is driven to turn over. One end of the elastic rope is fixed on the fixed support column of the base, and the other end of the elastic rope is fixed at the corner of the connecting rod. The elastic rope is used for providing pulling force towards one side of the lower conveying section for the connecting rod. When the middle conveying section is positioned at the unmanned aerial vehicle docking working position, the sealing plate is positioned between the output end of the middle conveying section and the edge of the loading and unloading through groove. When the middle conveying section moves from the unmanned aerial vehicle docking working position to the input working position, the sealing plate is turned downwards.
The invention has the beneficial effects that:
1. the invention provides a cargo box with a locking mechanism and an onboard clamping mechanism matched with the cargo box, which are matched with each other by utilizing racks and pinions, so that a claw hook is clamped by two sliding blocks on a box body when lifted, and the outer side of the claw hook is limited, thereby ensuring the reliability of clamping the cargo box and adapting to complex postures in aviation movement. When unloading, only the claw hook is controlled to move downwards, so that the limit and the clamping suffered by the claw hook are eliminated, and the convenient cargo unloading is realized.
2. The invention realizes the functions of delivering goods to the parking apron and taking down and outputting the goods on the parking apron through a single power source, and the goods can be fully limited in the downward transferring process, thereby having the advantages of simple control and high reliability.
3. The invention provides the apron platform which enables an unmanned aerial vehicle to finish all the work of taking off and loading, loading and unloading, and taking off, wherein after the goods are delivered by the conveying mechanism and the lifter, the platform can be used for loading and taking off of the unmanned aerial vehicle, and after the goods are removed by the lifter and the conveying device, the platform can be used for unloading or stopping and maintaining the unmanned aerial vehicle again, so that the use space of functional facilities is saved, the taking off and loading process of the unmanned aerial vehicle and the delivering and removing process of the goods are spatially separated, the interference of working flows is avoided, the collision probability of all the maneuvering devices is reduced, and the unmanned aerial vehicle is safer and more efficient.
4. The invention provides a linkage abdication assembly which is used for filling a through groove gap of loading and unloading goods on the plane of an apron, lifting drive is provided by a lifter driving element, and the assembly is pulled back to a balanced state by elasticity when no drive is performed, so that the assembly does not need additional power of a system.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a perspective view of the carrying case of the present invention;
FIG. 3 is a cross-sectional view of the cargo box of the present invention;
FIG. 4 is a schematic view of a conveyor belt braking assembly according to the present invention;
FIG. 5 is a schematic illustration of the present invention with the transport section in a drone docking operational position;
FIG. 6 is a schematic view of the present invention with the intermediate transfer section in an input operative position;
FIG. 7 is a schematic view of the present invention with the intermediate transfer section in an output operative position;
FIG. 8 is a schematic view of the overall structure of the loading and unloading section of the present invention;
FIG. 9 is a schematic view of the transmission of the capture assembly of the loading and unloading section of the present invention;
FIG. 10 is a first schematic view of a clamping assembly of the loading and unloading section of the present invention;
FIG. 11 is a second schematic view of the clamping assembly of the loading and unloading section of the present invention;
fig. 12 is a schematic diagram of a positioning module of a drone according to the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
As shown in fig. 1, 2, 3 and 4, a cargo system of an unmanned aerial vehicle capable of realizing automatic loading and unloading comprises an apron main body 8, a cargo input and output part, a loading and unloading part 5 and an unmanned aerial vehicle positioning module. The loading and unloading module comprises. The cargo input-output section is installed below the apron body 8 for delivering cargo to the apron or outputting cargo discharged from the unmanned aerial vehicle on the apron. The loading and unloading part 5 is used for helping the unmanned aerial vehicle to automatically grab and release cargoes.
The center of the top surface of the apron main body 8 is provided with a loading and unloading through groove for realizing the input and output of cargoes. The goods input-output part comprises an upper conveying section 2, a middle conveying section 6, a lower conveying section 11, a position switching mechanism and a linkage abdication assembly. The position switching mechanism controls the transfer section 6 to switch between three operating positions. The conveying surfaces of the upper conveying section 2 and the lower conveying section 11 are obliquely arranged, and the conveying surface of the upper conveying section 2 is higher than that of the lower conveying section 11. The upper conveying section 2, the middle conveying section 6 and the lower conveying section 11 are all unpowered conveying belts, and goods needing to be input are conveyed from the upper conveying section 2 to the middle conveying section 6 or goods needing to be output are conveyed from the middle conveying section 6 to the lower conveying section 11 by utilizing gravity. Guard rails are arranged on two sides of the upper conveying section 2 to prevent the container from deviating; the upright posts on the inner side of the guard rail are provided with guide rollers so as to facilitate the movement of the container.
As shown in fig. 5, 6 and 7, the middle conveying section 6 has three working positions, namely a docking working position, an input working position and an output working position of the unmanned aerial vehicle. When the middle conveying section 6 is positioned at the unmanned aerial vehicle docking working position, the middle conveying section 6 is positioned in the loading and unloading through groove of the apron main body 8, and the top surface of the middle conveying section 6 is flush with the top surface of the apron main body 8. When the middle conveying section 6 is positioned at the container input working position, the middle conveying section 6 is in butt joint with the output end of the upper conveying section 2. When the middle conveying section 6 is in the container output working position, the middle conveying section 6 is in butt joint with the input end of the lower conveying section 11.
The position switching mechanism comprises an electric cylinder 12, a gear lever limiting seat 17, a third push rod 10, a first push rod 3, a second push rod 1, a container gear lever 4, a gear lever spring 18, a roller 20, a roller 21 and a gear lever spring clamp 22. The electric cylinder 12 is horizontally fixed on the base. The stop lever limiting seat 17 is also fixed on the base. One end of the second push rod 1 and the base form a revolute pair; the other end of the second push rod 1 and the end of the middle conveying section 6 far away from the upper conveying section 2 form a revolute pair. The outer end of the power rod 13 of the electric cylinder 12 is rotationally connected with one end of the third push rod 10; one end of the first push rod 3 is rotatably connected with the third push rod 10. The other end of the first push rod 3 and the end of the middle conveying section 6 close to the upper conveying section 2 form a revolute pair. The first push rod 3 and the second push rod 1 form a crossed structure; the second push rod 1 is provided with a chute. The middle part of the first push rod 3 is provided with a pin shaft; the pin shaft stretches into the sliding groove and can slide and rotate in the sliding groove. A limiting plate is arranged on the base close to the bottom of the upper conveying section 2. The limiting plate is used for limiting the pushing stroke end of the first push rod 3. When the first push rod 3 is propped against by the limiting plate, the middle conveying section 6 reaches the unmanned aerial vehicle docking working position.
The middle conveying section 6 is provided with a cargo blocking assembly. The cargo blocking assembly includes a cargo box rail 4, a rail spring 18 and a rail spring clip 22. The cargo box lever 4 includes a blocking lever and two rotating levers. The inner ends of the two rotating rods are rotatably connected with the ends of the two sides of the middle conveying section 6, which are close to the upper conveying section 2. The outer ends of the two rotating rods are respectively fixed with the two ends of the blocking rod. The distance from the blocking rod to the rotation center of the container stop rod 4 is greater than the distance from the end of the middle conveying section 6, which is close to the lower conveying section 11, to the rotation center of the container stop rod 4. The container stop lever 4 and the middle conveying section 6 are provided with stop lever springs 18, stop lever springs 18 and stop lever springs 18. Stop lever spring 18 uses a torsion spring. Stop lever spring 18 the stop lever spring 18 is connected with the intermediate conveying section 6 by means of a stop lever spring catch 22 fixed on the intermediate conveying section 6. The outside of the blocking lever is rotatably connected with a drum 20. The rollers 20 may form rolling pairs with the container side planes.
When the middle conveying section 6 is positioned between the unmanned aerial vehicle docking working position and the container input working position, the container baffle rod 4 rotates to a blocking position higher than the top surface of the middle conveying section 6 under the action of the elastic force of the baffle rod spring 18, and at the moment, the distance between the blocking rod and the top surface of the middle conveying section is smaller than the height of the container, so that the container baffle rod 4 can play a blocking role on the container when the middle conveying section 6 is positioned between the unmanned aerial vehicle docking working position and the container input working position, and the container is prevented from sliding down in the transferring process.
When the middle conveying section 6 is positioned at the unmanned aerial vehicle docking working position, the container stop lever 4 overcomes the elasticity of the stop lever spring 18 under the stop of the stop lever main body 8 and rotates to a position lower than the top surface of the middle conveying section 6.
When the middle conveying section 6 is positioned between the container input working position and the container output working position, the container stop lever 4 is blocked by the stop lever limiting seat 17; when the middle conveying section 6 is positioned between the container outputting working positions, the distance between the blocking rod and the top surface of the middle conveying section is larger than the height of the container, so that the container blocking rod 4 cannot continuously block the container on the middle conveying section 6 from moving downwards, and the container can be output from the lower conveying section 11.
The upper sides of the outer ends of the two rotating rods are respectively provided with a roller 21; in the process that the middle conveying section 6 moves upwards to the unmanned aerial vehicle docking working position, the roller 21 gradually approaches and finally contacts the bottom surface of the apron main body 8; at this time, the roller 21 and the bottom surface of the apron main body 8 form a rolling pair, so that the container stop lever 4 cannot be lifted above the loading and unloading through groove, and the condition that the container stop lever 4 moves above the apron to affect loading and unloading is avoided.
As a detail for further improving the effect, the inner ends of the two rotating rods are provided with grooves. The gear lever spring 18 the extension of one end of the gear lever spring 18 abuts against the recess on the corresponding rotating lever, which can apply torque to the cargo box gear lever 4. The lower side of the container stop lever 4 is provided with a protruding structure, and the lower side of the protruding structure can prop against the stop lever limiting seat 17;
the linkage abdication component is used for closing a gap between the output end of the middle conveying section 6 and the edge of the loading and unloading through groove; this gap serves to provide the space required for switching the position of the intermediate conveyor section 6. The linkage abdication component comprises a sealing plate 7, an elastic rope 14, a connecting rod 15 and a guide rail 16. Two guide rails 16 arranged at intervals are horizontally fixed on the base. The connecting rod 15 is L-shaped and comprises an integrally formed horizontal section and a vertical section. The horizontal sections of the two connecting rods 15 are in sliding connection with the two guide rails 16. The outer end of the connecting rod 15 is provided with a drag hook part; the drag hook hooks the side of the third push rod 10 away from the lower conveying section 11.
The back of the closing plate 7 is provided with two arc-shaped rails aligned with each other and arranged at intervals. One end of the arc-shaped track is fixed with the middle part of the back surface of the sealing plate 7; the other end of the arc-shaped track is rotatably connected with the edge of the apron body 8, which is close to the lower conveying section 11. The top end of the vertical section of the connecting rod 15 is provided with a pin shaft; the pin shaft extends into the chute of the arc-shaped track.
When the connecting rod 15 slides along the guide rail 16, the sealing plate 7 is driven to turn over. One end of the elastic rope 14 is fixed on the fixed support of the base, and the other end is fixed at the corner of the connecting rod 15. The elastic rope 14 is used for pulling the connecting rod 15 to the side close to the lower conveying section 11 so that the sealing plate 7 turns down; when the closing plate 7 is turned down to the limit position, the connecting rod 15 is blocked by the arc-shaped track and does not move with the third push rod 10 any more, and at this time, the closing plate 7 is completely turned open.
The middle conveying section 6 is provided with a conveyor belt braking assembly; the belt brake assembly includes a brake plate 19, a brake spring and an unlocking boss 23. Both ends of the brake plate 19 are respectively and slidably connected with two guide posts on the middle conveying section 6. The guide post is sleeved with a brake spring. The braking springs provide the braking plate 19 with a spring force against the conveyor belt on the intermediate conveyor section 6.
When the middle conveying section 6 is positioned between the first working position and the second working position, the braking plate 19 is propped against the conveyor belt on the middle conveying section 6 under the action of the elastic force provided by the braking spring, so that the conveyor belt is locked, and the stability of a container on the middle conveying section 6 is ensured. The unlocking boss 23 is fixed at the end part of the conveying section 6 in the connection of the first push rod 3; before the intermediate conveying section 6 reaches the second or third operating position, the unlocking boss 23 abuts against the brake plate 19, so that the brake plate 19 is separated from the conveyor belt on the conveying section 6.
As shown in fig. 8 and 9, the loading and unloading section 5 includes a capture assembly mounted on the cargo box and a clamping assembly mounted on the drone. The two locking components are respectively arranged at two sides of the container. The locking component comprises a first sliding block 5-1, a third gear 5-2, a first gear 5-3, a second gear 5-14 and a second sliding block 5-4. The first slider 5-1 and the second slider 5-4 both form sliding pairs with the sides of the cargo box. The second slider 5-4 is arranged above the first slider 5-1. The ratio of the third gear 5-2 to the second gear 5-14 is 2:1. The first sliding block 5-1 is provided with a first rack; the second sliding block 5-4 is provided with a second rack. The first gear wheel 5-3 is rotatably attached to the side of the cargo box. The third gear 5-2 and the second gear 5-14 are coaxially fixed and rotatably connected to the side of the cargo box. The third gear 5-2 is meshed with the first rack; the second gear 5-14 is meshed with the first gear 5-3. The first gear 5-3 is meshed with the second rack; when the second sliding block 5-4 moves upwards, the first sliding block 5-1 is driven to move upwards; and the moving speed of the first slider 5-1 is twice the moving speed of the second slider 5-4. The middle part of the first sliding block 5-1 is provided with a boss for limiting the claw hook on the clamping assembly.
As shown in fig. 10 and 11, the clamping assembly comprises a frame 5-11 and two single-sided clamping modules. The two unilateral clamping modules are respectively arranged at two sides of the frame 5-11 and are used for being respectively matched with locking components at two sides of the container to realize clamping of the container. The single-side clamping module comprises a first bracket 5-5, a claw hook 5-6, a connecting shaft 5-7, a first hydraulic cylinder 5-8, a second bracket 5-9, a second hydraulic cylinder 5-10, a third hydraulic cylinder 5-12 and a fourth hydraulic cylinder 5-13.
The first bracket 5-5 is connected with the end part of the frame 5-11 in a sliding way; the second bracket 5-9 and the first bracket 5-5 form a revolute pair with a common axis arranged horizontally. The first hydraulic cylinder 5-8 is arranged on the frame, and the push-pull rod and the first bracket 5-5 form a revolute pair. The push-pull rod of the second hydraulic cylinder 5-10 is rotationally connected with the second bracket 5-9.
The two third hydraulic cylinders 5-12 are fixed on the second bracket 5-9 at intervals. The push-pull rods of the two third hydraulic cylinders 5-12 are respectively fixed with two ends of the claw hooks 5-6. The claw hook 5-6 is driven to transversely move by the expansion and contraction of the second hydraulic cylinder 5-10; the claw hook 5-6 is driven to turn over by the expansion and contraction of the first hydraulic cylinder 5-8. The claw hook 5-6 is driven to stretch and retract by stretching and retracting the third hydraulic cylinder 5-12. The fourth hydraulic cylinder 5-13 is fixed at the bottom of the frame 5-11, and two through holes are formed at the upper end of the claw hook 5-6 and used for sleeving a push-pull rod of the fourth hydraulic cylinder 5-13, so that the locking between the frame 5-11 and the claw hook 5-6 is realized.
In the working process, the claw hooks 5-6 of the two single-side clamping modules respectively extend into the space between the first sliding block 5-1 and the second sliding block 5-4 of the two locking components on the container; when the claw hook 5-6 moves upwards under the drive of the third hydraulic cylinder 5-12, the second sliding block 5-4 is driven to move upwards relative to the container, and under the gear transmission, the first sliding block 5-1 moves upwards at a faster speed, so that the distance between the first sliding block 5-1 and the second sliding block 5-4 is reduced until the first sliding block 5-1 and the second sliding block 5-4 clamp the claw hook 5-6, and the clamping assembly is reliably clamped and fastened.
As shown in fig. 12, in the arrangement mode of the radar of the millimeter wave radar guiding method, the apron radar 9 includes three millimeter wave radars fixed to the edge of the plane of the apron and uniformly arranged at 120-degree intervals. Comprising a first radar 9-1, a second radar 9-2 and a third radar 9-3. The unmanned aerial vehicle is provided with a millimeter wave radar signal receiver and is used for calibrating the parking apron when the parking apron is matched with the unmanned aerial vehicle.
The working method of the unmanned aerial vehicle freight system capable of realizing automatic loading and unloading comprises a loading method and an unloading method;
the loading method comprises the following steps:
and step one, delivering the goods box to the top surface of the parking apron.
After the unmanned aerial vehicle falls on the working position of the parking apron main body 8, the middle conveying section 6 moves to the cargo box input working position; the containers are placed on the upper conveyor section 2 of the loading tunnel, slid to the middle conveyor section 6 and blocked by the container stop lever 4, the container stop lever 4 being loaded with a pressure sensor, signaling the control center.
The electric cylinder 12 pushes the third push rod 10 to slide, the first push rod 3 is pushed, the conveying section 6 is lifted during pushing of the first push rod 3 and the second push rod 1, the unlocking boss 23 on the first push rod 3 is far away from the brake plate 19, the brake plate 19 is attached to the conveying belt under the action of spring tension, the conveying belt is braked, and the container is prevented from sliding downwards. The rollers 21 roll after contacting the underside of the apron body 8, restraining the cargo box rail 4 below the apron body 8, and the intermediate conveyor section 6 continues to rise to the unmanned aerial vehicle docking operational position.
Meanwhile, after the two ends of the third push rod 10 are contacted with the connecting rod 15, the connecting rod 15 is pushed to move, and the sealing plate 7 is driven to turn upwards. When the middle conveying section 6 reaches the butt joint working position of the unmanned aerial vehicle, the sealing plate 7 is reset, the guide rail force sensor sends a signal to the control center, the electric cylinder 12 is self-locked, and the middle conveying section 6 keeps a horizontal station.
Step two, the unmanned aerial vehicle grabbing container process:
after receiving the in-place signal of the middle conveying section 6, the control center sends a grabbing instruction to the unmanned aerial vehicle; the drone has stopped or landed on the tarmac body 8; the first hydraulic cylinder 5-8 pulls the connecting shaft 5-7, and the connecting shaft 5-7 pulls the second bracket 5-9 to turn upwards to the horizontal posture of the claw hook 5-6. The second hydraulic cylinder 5-10 pushes the second carriage 5-9 outwards to the end of the frame. The first hydraulic cylinder 5-8 pushes the connecting shaft 5-7, and the connecting shaft 5-7 pushes the second bracket 5-9 to overturn downwards to the vertical posture of the claw hook 5-6. The third hydraulic cylinder 5-12 pushes the claw hook 5-6 until the claw hook 5-6 reaches the grasping position. The second hydraulic cylinder 5-10 pulls the second bracket 5-9 inwardly so that the claw 5-6 slightly engages the side of the container. The second hydraulic cylinder 5-10 pulls the second bracket 5-9 to move inwards, so that the claw hook 5-6 is slightly clung to the side surface of the container, and simultaneously the position of the container is guided to be aligned.
The pressure sensor on the claw hook 5-6 sends an instruction to the unmanned aerial vehicle through the control center, the third hydraulic cylinder 5-12 pulls up the claw hook 5-6, and the claw hook 5-6 drives the second sliding block 5-4 to move upwards. The stroke of the first sliding block 5-1 is always twice that of the second sliding block 5-4, so that enough space can be reserved for the claw hook to be close to the side face of the container, and a boss on the first sliding block 5-1 can be attached to the claw hook 5-6 after the claw hook is lifted.
After the contact surfaces are attached, the upper sliding block and the lower sliding block lock the claw hook 5-6, and the third hydraulic cylinder 5-12 continues to pull the claw hook 5-6 to lift the container.
After the cargo box is lifted to the top surface of the cargo box and the bottom surface of the frame 5-11 to be contacted, the fourth hydraulic cylinder 5-13 on the frame 5-11 pushes the push-pull rod until the through hole of the claw hook 5-6 is sleeved on the push-pull rod of the fourth hydraulic cylinder 5-13, the cargo and the unmanned aerial vehicle form a rigid whole, and the unmanned aerial vehicle starts a take-off procedure.
The unloading method comprises the following steps:
step one, a radar guides an unmanned aerial vehicle to land and the unmanned aerial vehicle discharges the process:
after the middle conveying section 6 reaches the upper station and the unmanned aerial vehicle approaches the landing site, an airborne millimeter wave radar signal receiver is started, a control center starts a first radar 9-1 on the apron, and the control center completes calibration pairing between the unmanned aerial vehicle and the apron platform according to radar signals. The first radar 9-1 tracks and acquires the position of the unmanned aerial vehicle in real time, and guides the unmanned aerial vehicle to approach the apron platform.
The unmanned aerial vehicle follows the radar signal to reach the upper air of the target apron platform, and at the moment, the second radar 9-2 and the third radar 9-3 are started.
The unmanned aerial vehicle establishes a space rectangular coordinate system with an X-Y plane parallel to a horizontal plane by taking a horizontal gyroscope and taking the phase center of the unmanned aerial vehicle body as an origin.
And acquiring the relative position and speed relation between the unmanned aerial vehicle acquired by the three ground radars and each radar in real time, and simultaneously acquiring the information received by the airborne radar signal receiver. The plane coordinates where the three radars are located can be calculated by taking the space rectangular coordinate system as a reference, and the plane is the landing plane position.
And measuring and calculating coordinates of phase centers of the quasi-regular triangles where the three radars are positioned, wherein the coordinates are positions corresponding to the phase center points of the unmanned aerial vehicle when the three radars fall. According to each spatial position information that the radar obtained, guide unmanned aerial vehicle accurate landing to the apron face, this guide mode can guarantee the conveyer belt of transport section 6 in the packing box position corresponds.
The third hydraulic cylinder 5-12 on the second bracket 5-9 pushes the claw hook 5-6 to descend until the container falls onto the conveyor belt of the middle conveying section 6, and the third hydraulic cylinder 5-12 pushes the claw hook 5-6 to continue descending until the claw hook 5-6 reaches the grabbing position. The first hydraulic cylinder 5-8 pulls the connecting shaft 5-7, and the connecting shaft 5-7 pulls the second bracket 5-9 to turn upwards until the second bracket 5-9 is completely horizontal.
Simultaneously, the third hydraulic cylinder 5-12 pulls back the claw hook 5-6. The second hydraulic cylinder 5-10 on the frame 5-11 pulls the second bracket 5-9 to the end of the frame to complete the recovery of the clamping assembly, as shown in fig. 11.
The drone waits for reloading or takeoff again.
Step two, the container is lowered from the parking apron and sent away from the parking apron:
after the unmanned aerial vehicle clamping assembly is reset, the control center sends a descending instruction, and the electric cylinder 12 drives the middle conveying section 6 to descend. The cargo box stopper 4 is urged by the stopper spring 18 to start to return and move into contact with the cargo box. The elastic rope 14 pulls the connecting rod 15, and the connecting rod 15 pulls the sealing plate 7 to be unseated. Before the elevator descends to the position close to the loading station of the container, the boss 23 on the first push rod 3 pushes the braking plate 19 to release the brake. After the middle conveying section 6 passes through the container input working position, the brake of the conveying belt is completely released, and the upper plane of the stop lever limiting seat 17 pushes the container stop lever 4 to turn anticlockwise. When the intermediate conveyor section 6 is lowered to the container output operating position, the containers slide out of the discharge path along the lower conveyor section 11.

Claims (8)

1. Unmanned aerial vehicle freight system capable of realizing automatic loading and unloading, which is characterized in that: comprises a parking apron main body (8), a goods input-output part and a loading-unloading part (5); the goods input and output part is arranged below the parking apron main body (8) and is used for conveying goods to the parking apron and outputting the goods discharged by the unmanned aerial vehicle on the parking apron; the loading and unloading part (5) is used for automatically grabbing and releasing cargoes;
the loading and unloading part (5) comprises two locking components arranged on two sides of the container and a clamping component arranged on the unmanned aerial vehicle; the locking component comprises a first sliding block (5-1), a first gear (5-3), a second gear (5-14), a third gear (5-2) and a second sliding block (5-4); the first sliding block (5-1) and the second sliding block (5-4) form sliding pairs with the side surface of the container; the second sliding block (5-4) is positioned above the first sliding block (5-1); a first rack is arranged on the first sliding block (5-1); a second rack is arranged on the second sliding block (5-4); the first gear (5-3) is rotatably connected to the container; the third gear (5-2) and the second gear (5-14) are coaxially fixed and are rotatably connected to the container; the third gear (5-2) is meshed with the first rack; the second gear (5-14) is meshed with the first gear (5-3); the first gear (5-3) is meshed with the second rack; the number of teeth of the third gear (5-2) is larger than that of the second gear (5-14);
the clamping assembly comprises a frame (5-11) and two single-side clamping modules; the two single-side clamping modules are respectively arranged at two sides of the frame (5-11); the single-side clamping module comprises a first bracket (5-5), a claw hook (5-6), a connecting shaft (5-7) and a second bracket (5-9); the first bracket (5-5) is connected with the end part of the frame (5-11) in a sliding way and is driven by the power element; the second bracket (5-9) and the first bracket (5-5) form a revolute pair and are driven by a power element; the claw hook (5-6) is connected with the second bracket (5-9) in a sliding way and is driven by the power element; the two claw hooks (5-6) can transversely move, overturn and stretch under the drive of the power element;
the claw hook (5-6) is provided with a locking hole; a fourth hydraulic cylinder (5-13) is fixed on the frame; when the claw hook (5-6) is turned to a vertical state, the locking hole is aligned with a locking block on the push-out rod of the fourth hydraulic cylinder (5-13); when the fourth hydraulic cylinder (5-13) is pushed out, the locking block stretches into the locking hole to lock the position of the claw hook (5-6);
the single-side clamping module further comprises a first hydraulic cylinder, a second hydraulic cylinder and a third hydraulic cylinder; the cylinder body of the second hydraulic cylinder is fixed with the frame; the push-out rod of the first hydraulic cylinder (5-8) is connected with the second bracket (5-9) through a connecting shaft (5-7); the cylinder body of the first hydraulic cylinder is rotationally connected with the first bracket (5-5), and the push-out rod of the second hydraulic cylinder is rotationally connected with the second bracket (5-9); the cylinder body of the third hydraulic cylinder is fixed with the second bracket (5-9); the push-out rod of the third hydraulic cylinder is fixed with the claw hook (5-6); the power element is a first hydraulic cylinder, a second hydraulic cylinder and a third hydraulic cylinder;
in the process of clamping the container by the loading and unloading part (5), claw hooks (5-6) of the two single-side clamping modules respectively extend into the space between a first sliding block (5-1) and a second sliding block (5-4) of the two locking assemblies on the container; and drives the second sliding block (5-4) to move upwards relative to the container; under the gear transmission, the first sliding block (5-1) moves upwards at a faster speed, so that the distance between the first sliding block (5-1) and the second sliding block (5-4) is reduced until the first sliding block (5-1) and the second sliding block (5-4) clamp the claw hook (5-6).
2. An unmanned aerial vehicle cargo system capable of achieving automatic loading and unloading according to claim 1, wherein: the system also comprises an unmanned aerial vehicle positioning module; the unmanned aerial vehicle positioning module comprises three millimeter wave radars arranged on the parking apron main body and a plurality of millimeter wave radar signal receivers arranged on the unmanned aerial vehicle; the three millimeter wave radars are all arranged at the edge of the top surface of the parking apron main body and are distributed in a regular triangle; the distance between the unmanned aerial vehicle and the three millimeter wave radars is acquired by using the millimeter wave radar signal receiver to receive millimeter wave signals sent by the three millimeter wave radars, and the relative positions of the unmanned aerial vehicle and the parking apron main body are judged in the landing process.
3. An unmanned aerial vehicle cargo system capable of achieving automatic loading and unloading according to claim 1, wherein: a loading and unloading through groove is formed in the center of the top surface of the parking apron main body (8); the goods input and output part comprises an upper conveying section (2), a middle conveying section (6), a lower conveying section (11) and a position switching mechanism; the conveying surfaces of the upper conveying section (2) and the lower conveying section (11) are obliquely arranged, and the conveying surface of the upper conveying section (2) is higher than the conveying surface of the lower conveying section (11); the upper conveying section (2), the middle conveying section (6) and the lower conveying section (11) are all unpowered conveyer belts; the position switching mechanism drives the middle conveying section (6) to switch among three working positions; the three working positions are respectively a docking working position, an input working position and an output working position of the unmanned aerial vehicle; when the middle conveying section (6) is positioned at the butting working position of the unmanned aerial vehicle, the middle conveying section (6) is positioned in a loading and unloading through groove of the apron main body (8); when the middle conveying section (6) is positioned at a container input working position, the input end of the middle conveying section (6) is in butt joint with the output end of the upper conveying section (2); when the middle conveying section (6) is positioned at the container output working position, the output end of the middle conveying section (6) is in butt joint with the input end of the lower conveying section (11); the middle conveying section (6) is provided with a conveyor belt braking assembly; when the middle conveying section (6) is positioned between the butting working position and the input working position of the unmanned aerial vehicle, the conveying belt braking assembly locks the conveying belt on the middle conveying section (6).
4. A cargo system of an unmanned aerial vehicle capable of realizing automatic loading and unloading according to claim 3, wherein: the position switching mechanism comprises a third push rod (10), a first push rod (3) and a second push rod (1); one end of the second push rod (1) and the base form a revolute pair; the other end of the second push rod (1) and the end part of the middle conveying section (6) far away from the upper conveying section (2) form a revolute pair; the third push rod (10) is connected to the base in a sliding way and is driven by the power element; one end of the first push rod (3) is rotationally connected with the third push rod (10); the other end of the first push rod (3) and the end part of the middle conveying section (6) close to the upper conveying section (2) form a revolute pair; a chute is arranged on the second push rod (1); the middle part of the first push rod (3) is provided with a pin shaft; the pin shaft extends into the chute; by adjusting the position of the third push rod (10), the control middle conveying section (6) is switched between three working positions.
5. A cargo system of an unmanned aerial vehicle capable of realizing automatic loading and unloading according to claim 3, wherein: the conveyor belt braking assembly comprises a braking plate (19), a braking spring and an unlocking boss (23); both ends of the brake plate (19) are in sliding connection with the middle conveying section (6); the unlocking boss (23) is fixed on the first push rod (3) and is aligned with the brake plate (19); when the middle conveying section (6) is positioned between the input working position and the butting working position of the unmanned aerial vehicle, the brake plate (19) is propped against the conveyor belt on the middle conveying section (6) under the elastic force of the brake spring; when the middle conveying section (6) is in the input working position and the output working position, the brake plate (19) is separated from the conveyor belt on the middle conveying section (6) under the pushing of the unlocking boss (23).
6. A cargo system of an unmanned aerial vehicle capable of realizing automatic loading and unloading according to claim 3, wherein: the position switching mechanism also comprises a stop lever limiting seat (17); the stop lever limiting seat (17) is fixed on the base; the middle conveying section (6) is provided with a cargo blocking component; the cargo blocking assembly comprises a cargo box baffle rod (4) and a baffle rod spring (18); the container stop lever (4) comprises a blocking lever and a rotating lever; the inner end of the rotating rod is rotationally connected with the end parts, close to the upper conveying section (2), of the two sides of the middle conveying section (6); the outer ends of the two rotating rods are respectively fixed with the two ends of the blocking rod; the distance from the blocking rod to the rotation center of the container stop rod (4) is larger than the distance from the end part of the middle conveying section (6) close to the lower conveying section (11) to the rotation center of the container stop rod (4); a baffle spring (18) is arranged between the container baffle (4) and the middle conveying section (6); the position of the container stop lever (4) corresponds to the position of the stop lever limiting seat (17);
when the middle conveying section (6) is positioned between the unmanned aerial vehicle docking working position and the container input working position, the blocking rod of the container blocking rod (4) rotates to a position higher than the top surface of the middle conveying section (6) and lower than the top surface of the container in the blocking rod spring (18), so that the container on the middle conveying section (6) is blocked from sliding downwards;
when the middle conveying section (6) is positioned at the unmanned aerial vehicle docking working position, the container stop lever (4) overcomes the elasticity of the stop lever spring (18) under the blocking of the parking apron main body (8) and rotates to a position lower than the top surface of the middle conveying section (6);
when the middle conveying section (6) is positioned between a container input working position and a container output working position, the container stop lever (4) is blocked by a stop lever limiting seat (17); when the middle conveying section (6) is positioned between the container output working positions, the distance between the container stop lever (4) and the top surface of the middle conveying section is larger than the height of the container.
7. An unmanned aerial vehicle cargo system capable of achieving automatic loading and unloading according to claim 6, wherein: the blocking rod is rotationally connected with a roller (20); the upper side of the outer end of the rotating rod is provided with a roller (21).
8. An unmanned aerial vehicle cargo system capable of achieving automatic loading and unloading according to claim 4, wherein: the goods input and output part also comprises a linkage abdication component; the linkage abdication component is used for closing a gap between the middle conveying section (6) and the edge of the loading and unloading through groove; the linkage abdication component comprises a sealing plate (7), an elastic rope (14), a connecting rod (15) and a guide rail (16); the guide rail (16) is fixed on the base and is parallel to the sliding direction of the third push rod; the connecting rod (15) is L-shaped and comprises a horizontal section and a vertical section; the horizontal section of the connecting rod (15) is in sliding connection with the guide rail (16); the outer end of the connecting rod (15) is provided with a drag hook part; the drag hook part hooks one side of the third push rod (10) far away from the lower conveying section (11); the back of the sealing plate (7) is provided with two arc-shaped tracks which are mutually aligned and arranged at intervals; one end of the arc-shaped track is fixed with the middle part of the back surface of the sealing plate (7); the other end of the arc-shaped track is rotationally connected with the edge of the apron main body (8) close to the lower conveying section (11); a pin shaft is arranged at the top end of the vertical section of the connecting rod (15); the pin shaft extends into a chute of the arc-shaped track;
when the connecting rod (15) slides along the guide rail (16), the sealing plate (7) is driven to turn over; one end of the elastic rope (14) is fixed on the fixed support column of the base, and the other end of the elastic rope is fixed at the corner of the connecting rod (15); the elastic rope (14) is used for providing pulling force towards one side of the lower conveying section (11) for the connecting rod (15); when the middle conveying section (6) is positioned at the butting working position of the unmanned aerial vehicle, the sealing plate is positioned between the output end of the middle conveying section (6) and the edge of the loading and unloading through groove; when the middle conveying section (6) moves from the unmanned aerial vehicle docking working position to the input working position, the sealing plate is turned downwards.
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